A Novel EMG-driven State Space Model for the Estimation of Continuous Joint Movements | |
Ding QC(丁其川); Xiong AB(熊安斌); Zhao XG(赵新刚); Han JD(韩建达) | |
2011 | |
会议名称 | IEEE International Conference on Systems, Man and Cybernetics (SMC) |
会议日期 | October 9-12, 2011 |
会议地点 | Anchorage, AK |
关键词 | EMG hill-based muscle model joint angular movement state space model |
页码 | 2891-2897 |
中文摘要 | Electromyography (EMG) has been widely used as control commands for prosthesis, powered exoskeletons and rehabilitative robots. In this paper, an EMG-driven state space model is developed to estimate continuous joint angular displacement and velocity, demonstrated by elbow flexion/extension. The model combines the Hill-based muscle model with the forward dynamics of joint movement, in which kinematic variables are expressed as a function of neural activation levels. EMG features including integral of absolute value and waveform length are then extracted, and two quadratic equations which associate the kinematic variables with EMG features are constructed to represent the measurement equation. The proposed model are verified by extensively experiments, where the angular movements of human elbow joint are estimated only using the EMG signals, and the estimations are compared with the IMU measurements to validate the accuracy. As a demonstration, a robotic arm is commanded to follow the human elbow movement estimated by the proposed model, which shows the possibility of EMG-based robotic assisted rehabilitation. |
收录类别 | EI ; CPCI(ISTP) |
产权排序 | 1 |
会议主办者 | IEEE, IEEE Syst, Man & Cybernet Soc, IEEE Circuits & Syst Soc (CAS), IEEE Engn, Med & Biol Soc (EMB) |
会议录 | 2011 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC) |
会议录出版者 | IEEE |
会议录出版地 | Piscataway, NJ, USA |
语种 | 英语 |
ISSN号 | 1062-922X |
ISBN号 | 978-1-4577-0653-0 |
WOS记录号 | WOS:000298615103022 |
内容类型 | 会议论文 |
源URL | [http://ir.sia.cn/handle/173321/8503] |
专题 | 沈阳自动化研究所_机器人学研究室 |
推荐引用方式 GB/T 7714 | Ding QC,Xiong AB,Zhao XG,et al. A Novel EMG-driven State Space Model for the Estimation of Continuous Joint Movements[C]. 见:IEEE International Conference on Systems, Man and Cybernetics (SMC). Anchorage, AK. October 9-12, 2011. |
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